Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold human perception. Creating a force-sensing surgical instrument that measures directly at tool tip poses great challenges due to interactions between shaft and sclerotomy opening. We present design analysis force measurement device senses distal interior sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded...

Over the past decade, soft robot research has expanded to diverse fields, including biomedicine, bionics, service robots, human–robot interaction, and artificial intelligence. Much work been done in modeling kinematics dynamics of but closed‐loop control is still its early stages due limited sensory feedback. Thanks advancement functional materials, structures, manufacturing techniques for flexible electronics, stretchable sensors are developing rapidly. These provide feedback tasks enable...

The past decades have seen the rapid development of tactile sensors in material, fabrication, and mechanical structure design. advancement has heightened expectation sensor functions, thus put forward a higher demand for data processing. However, conventional analysis techniques not kept pace with still suffer from some severe drawbacks, like cumbersome models, poor efficiency, expensive costs. Machine learning, its prominent ability big fast processing speed, can offer many possibilities...

Although the flexible endoscopy has been widely used in medical field for many years, there is still great potential improving endoscopist's capability to perform therapeutic tasks. Tentatively, tools endoscope have poor maneuverability and limited Degree Of Freedom (DOF). In this paper, we propose a surgical robotic system MASTER (Master And Slave Transluminal Endoscopic Robot). dexterous master-slave device which can be tandem with conventional endoscope. Using system, ESD (Endoscopic...

Abstract Introduction Flexible endoscopy allows diagnostic and therapeutic interventions on the gastrointestinal (GI) tract. Simple procedures can be performed endoscopically using currently available tools. More advanced endoscopic surgical are much desired anticipated, yet they await improvements in instrumentation. Methods Presented here is a master–slave robotic system designed for use with flexible endoscopy. The slave cable‐driven manipulator that attached to an endoscope, allowing...

Contrastive learning, which aims at minimizing the distance between positive pairs while maximizing that of negative ones, has been widely and successfully applied in unsupervised feature where design (pos/neg) is one its keys. In this paper, we attempt to devise a feature-level data manipulation, differing from augmentation, enhance generic contrastive self-supervised learning. To end, first visualization scheme for pos/neg score <sup xmlns:mml="http://www.w3.org/1998/Math/MathML"...

Unpaired Image Captioning (UIC) has been developed to learn image descriptions from unaligned vision-language sample pairs. Existing works usually tackle this task using adversarial learning and visual concept reward based on reinforcement learning. However, these existing were only able limited cross-domain information in vision language domains, which restrains the captioning performance of UIC. Inspired by success Vision-Language Pre-Trained Models (VL-PTMs) research, we attempt infer cue...

Abstract The application of stretchable strain sensors in human movement recognition, health monitoring, and soft robotics has attracted wide attention. Compared with traditional electronic conductors, ionic hydrogels are more attractive to organization‐like devices yet suffer poor sensitivity due limited ion conduction modulation caused by their intrinsic chain network. This paper proposes a strategy modulate transport behavior geometry‐induced concentration adjust improve the...

In tendon-driven systems, the elongation of tendon would result in inaccuracy position control system. This becomes a critical challenge for those applications, such as surgical robots, which require tendon-sheath system with flexible and even time-varying configurations but lack corresponding sensory feedback at distal end due to spatial restrictions. this paper, we endeavor address problem by modeling Targeting flexibility practical scenarios, first derived model describing relationship...

<b>Background and study aims:</b> The feasibility of performing endoscopic submucosal dissection (ESD) using the Master Slave Transluminal Endoscopic Robot (MASTER), a robotics-enhanced surgical system, has been shown in our previous study. This aimed to further explore, an animal survival study, 2-week outcome MASTER perform ESD. <b>Patients methods:</b> In this prospective ESD was performed on five female pigs (weighing 32.4 – 36.8 kg) under general anesthesia MASTER. animals were observed...

Ultrasound scanning plays an important role in modern clinical examinations. Thanks to its small footprint, low cost, and popularity, it has been widely used annual physical examinations many other diagnosis intervention procedures. However, the results depend heavily on clinician operators' skills, causing inconsistency even false detection. A fully autonomous ultrasound robot can be a promising solution, enabling consistent accurate operation. In this letter, we propose procedure-specified...

With the rapid development of robotic and AI technology in recent years, human–robot interaction has made great advancement, making practical social impact. Verbal commands are one most direct frequently used means for interaction. Currently, such can enable robots to execute pre-defined tasks based on simple explicit language instructions, e.g., certain keywords must be detected. However, that is not natural way human communicate. In this paper, we propose a novel task-based framework robot...

ABSTRACT Multi‐robot systems offer substantial enhancements in efficiency, scalability, robustness, and flexibility for executing complex tasks through collaborative efforts. However, existing methodologies are constrained by their lack of generalizability, the need extensive modeling, most importantly, limitations applicability scenarios. This paper presents a novel approach to multi‐robot task planning coordination, introducing comprehensive pipeline encompassing data generation,...

Natural orifice transluminal endoscopic surgery (NOTES) is an surgical intervention technique for treatment within the intraperitoneal cavity, which utilizes natural orifices (i.e. mouth, vagina, anus, etc.) as entry point. In line with minimally invasive (MIS), NOTES aims to perform procedures without skin incisions, thus eliminating unsightly scars. this article, a master—slave robotic system proposed enable endoscopist demanding procedures, are currently performed by surgeons in opened or...

A novel robotic platform for Natural Orifice Transluminal Endoscopic Surgery (NOTES) is presented in this paper. It aims to tackle two crucial technical barriers which hinder its smooth transition from animal studies clinical trials: providing effective instrumentations perform complex NOTES procedures and maintaining the spatial orientation endoscopic navigation.The are overcome by design of system considering size, triangulation, dexterity, maneuverability complexity. also shown that...

The dominant fracture can be effectively plugged by injecting self-degradable diverters during temporary plugging fracturing. subsequent fracturing fluids divert into the poor fractures. complexity enlarged and well production enhanced. This study established a new diverter evaluation system carried out 23 groups of experiments to investigate characteristics within three-dimensional (3D) hydro-fractures. Experimental results show that (1) formation process zone is determined bridging...